Use physics for pathfinding.
This commit is contained in:
parent
7545dd6bd3
commit
2e805b3b8b
|
|
@ -1,7 +1,7 @@
|
|||
use std::collections::HashMap;
|
||||
|
||||
use bevy::{prelude::*, tasks::prelude::*};
|
||||
use bevy_rapier2d::prelude::*;
|
||||
use bevy_rapier2d::{na::UnitComplex, prelude::*};
|
||||
use crossbeam_channel::{unbounded, Receiver};
|
||||
use derive_more::{Deref, DerefMut};
|
||||
use pathfinding::prelude::*;
|
||||
|
|
@ -41,43 +41,6 @@ pub fn find_path(
|
|||
)
|
||||
}
|
||||
|
||||
fn nearest_extreme(from: f32, to: i32) -> f32 {
|
||||
let to = to as f32;
|
||||
let range = to..=(to + 0.999);
|
||||
if from <= *range.start() {
|
||||
*range.start()
|
||||
} else {
|
||||
*range.end()
|
||||
}
|
||||
}
|
||||
|
||||
fn cheat_assign(
|
||||
start: (f32, f32),
|
||||
end: (i32, i32),
|
||||
map_width: usize,
|
||||
motion_blocked: Vec<bool>,
|
||||
) -> Option<(f32, f32)> {
|
||||
let x;
|
||||
let y;
|
||||
if start.0 as i32 == end.0 {
|
||||
x = start.0;
|
||||
} else {
|
||||
x = nearest_extreme(start.0, end.0);
|
||||
}
|
||||
if start.1 as i32 == end.1 {
|
||||
y = start.1;
|
||||
} else {
|
||||
y = nearest_extreme(start.1, end.1);
|
||||
}
|
||||
let point = (x, y);
|
||||
let index = point.to_index(map_width);
|
||||
if motion_blocked[index] {
|
||||
None
|
||||
} else {
|
||||
Some(point)
|
||||
}
|
||||
}
|
||||
|
||||
fn calculate_path(
|
||||
mut commands: Commands,
|
||||
pool: Res<AsyncComputeTaskPool>,
|
||||
|
|
@ -117,93 +80,62 @@ fn calculate_path(
|
|||
}
|
||||
}
|
||||
|
||||
/*fn negotiate_path(
|
||||
fn negotiate_path(
|
||||
mut commands: Commands,
|
||||
time: Res<Time>,
|
||||
mut query: Query<(
|
||||
Entity,
|
||||
&mut Path,
|
||||
&mut Coordinates,
|
||||
&mut RigidBodyPosition,
|
||||
&mut RigidBodyVelocity,
|
||||
&Speed,
|
||||
Option<&RotationSpeed>,
|
||||
&mut Transform,
|
||||
)>,
|
||||
map: Query<&Map>,
|
||||
) {
|
||||
for (entity, mut path, mut coordinates, mut velocity, speed, rotation_speed, mut transform) in
|
||||
query.iter_mut()
|
||||
{
|
||||
for map in map.iter() {
|
||||
let mut new_path = path.0.clone();
|
||||
let start_i32 = coordinates.i32();
|
||||
let new_path_clone = new_path.clone();
|
||||
let mut iter = new_path_clone.split(|p| *p == start_i32);
|
||||
if iter.next().is_some() {
|
||||
if let Some(upcoming) = iter.next() {
|
||||
new_path = vec![start_i32];
|
||||
new_path.append(&mut upcoming.to_vec());
|
||||
}
|
||||
}
|
||||
**path = new_path;
|
||||
if path.len() >= 2 {
|
||||
let start = **coordinates;
|
||||
let start_index = start.to_index(map.width());
|
||||
let start = Vec2::new(start.0, start.1);
|
||||
let next = path[1];
|
||||
if motion_blocked[next.to_index(map.width())] {
|
||||
// TODO: Should probably handle.
|
||||
}
|
||||
let next = Vec2::new(next.0 as f32, next.1 as f32);
|
||||
if rotation_speed.is_some() {
|
||||
let start = start.floor();
|
||||
let v = next - start;
|
||||
let angle = v.y.atan2(v.x);
|
||||
transform.rotation = Quat::from_rotation_z(angle);
|
||||
}
|
||||
let mut direction = next - start;
|
||||
direction = direction.normalize();
|
||||
direction *= speed.0;
|
||||
let displacement = direction * time.delta_seconds();
|
||||
let dest = start + displacement;
|
||||
let dest = (dest.x, dest.y);
|
||||
let index = dest.to_index(map.width());
|
||||
if start_index != index && motion_blocked[index] {
|
||||
let (normal_x, normal_y) = **coordinates;
|
||||
let next = path[1];
|
||||
if let Some((cheat_x, cheat_y)) =
|
||||
cheat_assign(**coordinates, next, map.width(), motion_blocked.0.clone())
|
||||
{
|
||||
let index = (normal_x, cheat_y).to_index(map.width());
|
||||
if !motion_blocked.0[index] {
|
||||
**coordinates = (normal_x, cheat_y);
|
||||
return;
|
||||
}
|
||||
let index = (cheat_x, normal_y).to_index(map.width());
|
||||
if !motion_blocked.0[index] {
|
||||
**coordinates = (cheat_x, normal_y);
|
||||
return;
|
||||
}
|
||||
**coordinates = (cheat_x, cheat_y);
|
||||
}
|
||||
velocity.linvel = Vec2::ZERO.into();
|
||||
} else {
|
||||
velocity.linvel = direction.into();
|
||||
}
|
||||
} else {
|
||||
commands.entity(entity).remove::<Path>();
|
||||
commands.entity(entity).remove::<Destination>();
|
||||
velocity.linvel = Vec2::ZERO.into();
|
||||
for (entity, mut path, mut position, mut velocity, speed, rotation_speed) in query.iter_mut() {
|
||||
let mut new_path = path.0.clone();
|
||||
let start_i32 = (
|
||||
position.position.translation.x,
|
||||
position.position.translation.y,
|
||||
)
|
||||
.i32();
|
||||
let new_path_clone = new_path.clone();
|
||||
let mut iter = new_path_clone.split(|p| *p == start_i32);
|
||||
if iter.next().is_some() {
|
||||
if let Some(upcoming) = iter.next() {
|
||||
new_path = vec![start_i32];
|
||||
new_path.append(&mut upcoming.to_vec());
|
||||
}
|
||||
}
|
||||
**path = new_path;
|
||||
if path.len() >= 2 {
|
||||
let start = Vec2::new(
|
||||
position.position.translation.x,
|
||||
position.position.translation.y,
|
||||
);
|
||||
let next = path[1];
|
||||
let next = Vec2::new(next.0 as f32, next.1 as f32);
|
||||
if rotation_speed.is_some() {
|
||||
let v = next - start;
|
||||
let angle = v.y.atan2(v.x);
|
||||
position.position.rotation = UnitComplex::new(angle);
|
||||
}
|
||||
let mut direction = next - start;
|
||||
direction = direction.normalize();
|
||||
direction *= speed.0;
|
||||
velocity.linvel = direction.into();
|
||||
} else {
|
||||
commands.entity(entity).remove::<Path>();
|
||||
commands.entity(entity).remove::<Destination>();
|
||||
velocity.linvel = Vec2::ZERO.into();
|
||||
}
|
||||
}
|
||||
}*/
|
||||
}
|
||||
|
||||
pub struct PathfindingPlugin;
|
||||
|
||||
impl Plugin for PathfindingPlugin {
|
||||
fn build(&self, app: &mut AppBuilder) {
|
||||
app.add_system_to_stage(CoreStage::PostUpdate, calculate_path.system());
|
||||
//.add_system(negotiate_path.system());
|
||||
app.add_system_to_stage(CoreStage::PostUpdate, calculate_path.system())
|
||||
.add_system(negotiate_path.system());
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user